US4122689A - Flexure-pivot assemblies and methods of making them - Google Patents

Flexure-pivot assemblies and methods of making them Download PDF

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Publication number
US4122689A
US4122689A US05/702,827 US70282776A US4122689A US 4122689 A US4122689 A US 4122689A US 70282776 A US70282776 A US 70282776A US 4122689 A US4122689 A US 4122689A
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United States
Prior art keywords
pins
pairs
flexure
pair
spring
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Expired - Lifetime
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US05/702,827
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English (en)
Inventor
Geoffrey Beardmore
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Smiths Group PLC
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Smiths Group PLC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/16—Suspensions; Bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C11/00—Pivots; Pivotal connections
    • F16C11/04—Pivotal connections
    • F16C11/12—Pivotal connections incorporating flexible connections, e.g. leaf springs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F1/00—Springs
    • F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/14—Torsion springs consisting of bars or tubes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
    • F16C2370/00—Apparatus relating to physics, e.g. instruments
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/12—Gyroscopes
    • Y10T74/1293—Flexure hinges for gyros

Definitions

  • This invention relates to flexure-pivot assemblies and to methods of making them.
  • the invention is concerned with the provision of a pivot of simple construction that permits frictionless angular displacement of limited extent between two members.
  • the invention is especially applicable in low-torque applications, for example in the gimbal mounting of a gyroscope.
  • a flexure-pivot assembly that includes two mounting members and wherein the said two mounting members are resiliently interconnected by means of a plurality of flat springs that are each held at one end between two pins mounted with one of said mounting members and at the other end between two pins mounted with the other of said mounting members.
  • pins By use of pins to hold the springs it is possible to achieve a simple construction of assembly. More particularly, by holding the ends of the springs between pairs of pins the location and effective length of each spring in the assembly can be precisely defined. Furthermore with the assembly of the present invention there is no requirement for component parts of other than simple form, and these parts may be to a substantial extent all of the same material avoiding problems that might otherwise arise from differential thermal expansion. An open construction that reduces the likelihood of accumulation of dirt or debris within the assembly during manufacture or use, can also be readily achieved.
  • a method of manufacturing a flexurepivot assembly including the steps of securing four pairs of pins at one end to a first mounting member such that the two pins of each pair are close to one another and project from said first mounting member at a location opposite that of another of said pairs of pins, securing two flat springs to the pins with the two ends of each spring inserted between the pins of opposite pairs such that the springs cross one another, securing the other end of each pin to a second mounting member, cutting through each said pin at a selected position along its length such that thereby the interconnection remaining between the two mounting members via said pins is a resilient interconnection through the said two springs.
  • the method of manufacture of the present invention has the advantage of simplicity. Only components of simple form need be involved, and the machining of the assembly can be limited to the relatively simple severing of the pins.
  • the same manufacturing steps and components can be utilized in the production of assemblies having different characteristics.
  • the characteristics of the resulting assembly can be determined simply by the number and location of cuts made.
  • FIG. 1 is illustrative of a first of the two forms of flexure-pivot assembly
  • FIG. 2 is a sectional end view of the flexure-pivot assembly of FIG. 1;
  • FIG. 3 is a sectional view to a reduced scale of the flexure-pivot assembly of FIG. 1, the section of this view being taken on the line III-III of FIG. 2 and the section of FIG. 2 being taken on the line II-II of FIG. 3;
  • FIG. 4 shows the configuration of one of two identical springs used in the flexure-pivot assembly of FIG. 1;
  • FIG. 5 is illustrative of the second form of flexure-pivot assembly
  • FIG. 6 is a sectional view corresponding to that of FIG. 3, of the second form of flexure-pivot assembly
  • FIG. 7 is a sectional view of an assembly that is produced at a preliminary stage in the manufacture of each of the two forms of flexure-pivot assembly, the section taken corresponding in the finished product to that of FIG. 3 or FIG. 6;
  • FIG. 8 is a sectional view of a rate gyroscope including flexure-pivot assemblies of either of the two forms.
  • Both forms of flexure-pivot assembly to be described are intended for use in the mounting of the gimbal frame of a rate gyroscope. More particularly, the flexure-pivot assembly is required in this context to enable the gimbal frame to be angularly displaced relative to the casing of the gyroscope throughout a limited angular range about a central datum position and to provide throughout the range a linear restoring torque.
  • the two forms of flexure-pivot assembly to be described are of more general application and not limited to the context of rate gyroscopes, the description of them will be related for convenience to their use in this specific context.
  • the flexure-pivot assembly is provided between a cylindrical stub axle 1 that projects from the gimbal frame (not shown) of the gyroscope and a mounting block 2 that is provided on the gyroscope casing (not shown).
  • the axle 1 and block 2 are aligned with one another on a longitudinal axis 3 of the assembly and with their opposed end faces 4 and 5 parallel to one another.
  • Five pins 6 to 10 are mounted concentrically on the end face 4 of the axle 1 to project parallel to the axis 3 towards the block 2, and similarly five pins 11 to 15 are mounted concentrically on the end face 5 to project parallel to the axis 3 towards the face 4 of the axle 1.
  • the pins 7 and 8 are positioned close to one another, as are the two pins 9 and 10, with the two pairs of pins spaced by 90° from one another about the axis 3.
  • the pins 12 and 13 and the pins 14 and 15 are similarly located in pairs so that the pair of pins 7 and 8 is diametrically opposed by the pair of pins 12 and 13 and the pair of pins 9 and 10 is diametrically opposed by the pair of pins 14 and 15 in the assembly.
  • Two spring blades 16 and 17 are secured to the diametrically-opposed pairs of pins, thereby interconnecting the stub axle 1 with the mounting block 2 resiliently.
  • the planes of the two blades 16 and 17 intersect one another at right angles on the axis 3 and mid-way along the blade length.
  • Each of the blades 16 and 17, which are both of the form shown in FIG. 4, includes two parallel rib portions 18 and 19 that are linked at one end by a portion 20 and at the other end carry aligned portions 21 and 22 respectively which are separated from one another by a small gap.
  • the end portions 21 and 22 of the blade 16 are located between the pair of pins 7 and 8, and are retained there by a brazed joint, whereas the end portion 20 of that blade is located between, and brazed to, the pair of pins 12 and 13.
  • the end portions 21 and 22 of the blade 17 are retained between the pairs of pins 9 and 10, and the end portion 20 of that blade is retained between the pair of pins 14 and 15.
  • the rib portions 18 and 19 of the two blades 16 and 17 are interlaced with one another such that the planes of the two blades intersect one another along the axis 3. This establishes substantial stiffness of intercoupling between the axle 1 and block 2 except about the axis 3, relative angular displacement between the two members about this axis being opposed by a substantially linear torque exerted by the spring blades 16 and 17.
  • the two pins 6 and 11 act to prevent excessive angular displacement between the axle 1 and block 2.
  • the normal displacement experienced is, for example, of the order of two degrees in either sense about the axis 3, and the stops act to prevent displacement in excess of five degrees.
  • the pin 6 projecting from the stub axle 1 comes into contact with the pin 15 on mounting block 2.
  • the pin 11 projecting from the block 2 comes into contact with the pin 10 projecting from the stub axle 1.
  • the entire flexure-pivot assembly is made of maraging steel, the stub axle 1, the mounting block 2 and the pins 6 to 15 being nickel-plated by an electroless process. Since the entire assembly is for practical purposes of one material only, there is substantially no instability in the pivot that might otherwise arise from differential thermal expansion of the component parts.
  • the blades 16 and 17 are formed by photoetching (so as to ensure burr-free edges) with the rib portions 18 and 19 of the blades 16 and 17 etched from the blank to extend parallel to the direction of the grain of the material.
  • the blades are not plated, thereby avoiding any danger of a bimetallic effect on the blade operation that would otherwise arise from globules of the plating material which would form on the blade surfaces during brazing.
  • Use of maraging steel for the blades 16 and 17 enables the nickel plating on the pins to wet the unplated material of the blades when the brazed joint is being formed.
  • FIGS. 5 and 6 The second form of flexure-pivot assembly is shown in FIGS. 5 and 6.
  • This flexure-pivot assembly is formed from the same basic components as the pivot shown in FIG. 1, but has a torsional resilience that is only one half of that of the pivot shown in FIG. 1.
  • the resilience between the stub axle 1 and the mounting block 2 is in this case established via the two ribs of each blade acting in series with one another, rather than in parallel as with the assembly of FIG. 1.
  • one end of the rib portion 18' of a U-shaped blade 16' is retained between a pair of pins 7' and 8' that project from the end face 4 of the axle 1 whereas the end of the rib portion 19' of that blade is retained between a pair of pins 7" and 8" that project from the face 5 of the mounting block 2 and are normally aligned with the pins 7' and 8'.
  • the end portion of the blade 16' interconnecting the rib portions 18' and 19' is sandwiched between the two pins 12' and 13' that are separated from both the axle 1 and the block 2.
  • the U-shaped blade 17' is retained at one end of its rib portion 18' between a pair of pins 9' and 10' projecting from the end 4 of the axle 1, and at one end of its rib portion 19' between a pair of pins 9" and 10" projecting from the end 5 of the block 2, the interconnecting portion of the blade 17' being sandwiched between two pins 14' and 15' separated from the axle 1 and block 2.
  • the blades 16' and 17' are interlaced with one another with their planes intersecting on the axis 3.
  • each of the pins 6 to 15 is inserted, as a push fit, in the ten holes provided in the face 4 of the stub axle 1.
  • the steel blade 16 is inserted between the pair of pins 7 and 8 and the pair of pins 12 and 13, and the steel blade 17 is inserted between the pair of pins 9 and 10 and the pair of pins 14 and 15 such that the two blades 16 and 17 are interlaced and their planes intersect one another at right angles.
  • the other end of each pin is inserted in a corresponding hole in the face 5 of the mounting block 2. Location of the blades 16 and 17 in a central position is aided by raised rims 23 and 24 around the circumference of the faces 4 and 5.
  • the assembly is supported in a vertical position in a furnace and the temperature raised slowly under vacuum to 930° C.
  • the furnace remains at this temperature for two minutes and is then allowed to cool slowly under vacuum to 800° C.
  • the assembly is then quickly cooled to room temperature, and is then hardened by raising the temperature of the furnace slowly under vacuum to 480° C. This temperature is maintained for three hours and the assembly is then cooled rapidly again to room temperature.
  • the pivot assembly is made entirely of one material, namely maraging steel, heat treatment of the pivot assembly may be effected without distortion of the assembly which would otherwise arise from differential thermal expansion.
  • the heat treatment hardens the blades, which helps reduce mechanical hysteresis on subsequent flexing.
  • the pivot is in the form of a rigid assembly of hard material and may be easily handled and machined without damage, and as such is in a form common to the methods of manufacture of both the forms of pivot assembly.
  • the two different configurations of pivot assembly are produced from this form by cutting the pins and blades at different points. The cutting is preferably effected by a spark erosion process so as to avoid stressing the assembly and producing burrs.
  • the flexure-pivot of FIGS. 1 to 3 is produced from the rigid assembly by cuts made close to the face 4 and close to the face 5.
  • the cuts close to the face 4 sever the pins 11 to 15 from the stub axle 1 together with those portions of the blades 16 and 17 that are retained between the pins 12 and 13 and also those portions retained between the pins 14 and 15.
  • the cuts close to the face 5 sever the pins 6 to 10 from the block 2 together with those portions of the blades 16 and 17 retained between the pins 7 and 8, those portions retained between the pins 9 and 10, and thereby complete formation of the structure as shown in FIGS. 1 to 3.
  • the flexure-pivot of FIGS. 5 and 6 is produced from the rigid assembly on the other hand, by cuts made close to the face 4, close to the face 5 and between the rib portions of the blades.
  • the cuts close to the faces 4 and 5 sever the pins 12 to 15 and also the portion of the blades 16 and 17 retained between the pins 14 and 15, from both the axle 1 and block 2.
  • the cuts close to the face 5 also sever the pins 6 and 11 from the block 2, whereas those made between the rib portions sever the pins 7 to 10 into portions 7' to 10' carried with the axle 1 and portions 7" to 10" carried by the block 2, to complete formation of the structure as shown in FIGS. 5 and 6.
  • FIG. 8 The manner in which either of the two forms of flexure-pivot assembly may be incorporated in a rate gyroscope is illustrated in FIG. 8.
  • the rate gyroscope of FIG. 8 utilizes two flexure-pivot assemblies of either form.
  • the gimbal structure 101 of the rate gyroscope is rotatably mounted within a cylindrical casing 102 for angular displacement about the longitudinal axis 103 of the casing 102.
  • the structure 101 is mounted by means of one flexure-pivot 104 at one end of the casing 102 and by means of another flexure-pivot 105 at the other end, the flexure-pivots 104 and 105 providing a resilient restraint opposing angular displacement of the structure 101 about the axis 103.
  • An inductive transducer or pickoff 107 that comprises a ferromagnetic stator 108 carried by the casing 102 and a ferromagnetic rotor 109 carried by the structure 101, is arranged to be excited with alternating electric current so as to derive in the stator 108 a signal dependent upon any angular displacement of the structure 101 about the axis 103.
  • An electrically-driven rotor 110 of the rate gyroscope is carried by the gimbal structure 101, being rotatably-mounted on an ⁇ H ⁇ configuration hydrodynamic gas-lubricated bearing assembly 111 that is secured to the structure 101 with its longitudinal axis 112 perpendicular to the axis 103.
  • the rotor 110 is in operation energized to cause it to rotate about the axis 112 (the spin axis of the gyroscope), and in these circumstances any angular movement of the casing 102 about an axis 113, which axis being perpendicular to the two axes 103 and 112 constitutes the input axis of the rate gyroscope, tends to process the gimbal structure 101 about the axis 103 (the precession axis of the gyroscope).
  • Procession in this way is restrained resiliently by the flexure-pivots 104 and 105 so that the resultant angular displacement of the gimbal structure 101 about the precession axis 103 is in accordance with the angular velocity, or rate, of the casing 102 about the input axis 113.
  • the pick-off 107 derives an electric alternating-current signal in accordance with the displacement, and this signal as applied to appear between output terminals 114 and 115 mounted externally of the casing 102, provides a measure of the input rate.
US05/702,827 1975-07-03 1976-07-06 Flexure-pivot assemblies and methods of making them Expired - Lifetime US4122689A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB28155/75A GB1545774A (en) 1975-07-03 1975-07-03 Flexure-pivot assemblies and methods of making them
GB28155/75 1975-07-03

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US4122689A true US4122689A (en) 1978-10-31

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US (1) US4122689A (de)
JP (1) JPS589298B2 (de)
BR (1) BR7604355A (de)
CA (1) CA1052601A (de)
DE (1) DE2629721C2 (de)
FR (1) FR2330908A1 (de)
GB (1) GB1545774A (de)
IT (1) IT1066572B (de)
NL (1) NL171186C (de)
SE (1) SE415697B (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4336967A (en) * 1980-01-14 1982-06-29 K.K. Tokyo Keiki Bearing apparatus
US4444442A (en) * 1980-01-14 1984-04-24 K. K. Tokyo Keiki Bearing apparatus
US5142485A (en) * 1990-05-17 1992-08-25 The State Of Israel, Ministry Of Defence, Rafael Armament Development Authority Two axis accelerometer
US5725429A (en) * 1993-08-20 1998-03-10 Exedy Corporation Flywheel mechanism
US6666612B2 (en) * 1999-08-31 2003-12-23 Centre National D'etudes Spatiales Flexural pivot
CN102950423A (zh) * 2011-08-23 2013-03-06 兆利科技工业股份有限公司 转轴的公连接件制法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3405518A1 (de) * 1983-02-25 1984-08-30 Smiths Industries Public Ltd. Co., London Gyroskop
SE431672B (sv) * 1983-04-15 1984-02-20 Sven Runo Vilhelm Gebelius Ledbar forbindning
DE10330947B4 (de) * 2003-07-08 2015-10-29 Schenck Process Gmbh Kreuzfederelement

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US1640670A (en) * 1925-12-16 1927-08-30 Charles D R Schaeffer Shaft construction
US3073584A (en) * 1960-02-26 1963-01-15 Bendix Corp Flexural pivot device
US3124342A (en) * 1964-03-10 figure
US3124873A (en) * 1964-03-17 Troeger
US3181851A (en) * 1961-10-03 1965-05-04 Bendix Corp Flexural pivot
US3252696A (en) * 1963-10-21 1966-05-24 Bendix Corp Flexural pivot device
US3277555A (en) * 1963-05-22 1966-10-11 Bendix Corp Clip flexural pivot manufacturing method
US3360255A (en) * 1965-06-11 1967-12-26 Alfred N Ormond Universal flexure unit
US3722296A (en) * 1971-01-19 1973-03-27 Bendix Corp Antifriction bearing with compensating flexural pivot in a free axis gyroscope
US3825992A (en) * 1972-09-08 1974-07-30 Bendix Corp Method of making an eccentric flexural pivot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR771728A (fr) * 1934-03-09 1934-10-15 Joint élastique d'accouplement à ressorts à lames
DE1425913A1 (de) * 1963-05-22 1969-11-27 Bendix Corp Biege-Drehvorrichtung und Verfahren zu ihrer Herstellung
FR1418327A (fr) * 1963-10-21 1965-11-19 Bendix Corp Nouveau dispositif de suspension à éléments de flexion pour mécanisme oscillant autour d'un axe et son procédé de fabrication
US3319951A (en) * 1965-03-15 1967-05-16 Bendix Corp Flexural pivot device and method of making same
US3811665A (en) * 1972-09-05 1974-05-21 Bendix Corp Flexural pivot with diaphragm means
US3807029A (en) * 1972-09-05 1974-04-30 Bendix Corp Method of making a flexural pivot
US3844022A (en) * 1972-09-05 1974-10-29 Bendix Corp Method of making a universal flexural assembly
FR2198578A5 (de) * 1972-09-05 1974-03-29 Bendix Corp
FR2199370A5 (de) * 1972-09-08 1974-04-05 Bendix Corp

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3124342A (en) * 1964-03-10 figure
US3124873A (en) * 1964-03-17 Troeger
US1640670A (en) * 1925-12-16 1927-08-30 Charles D R Schaeffer Shaft construction
US3073584A (en) * 1960-02-26 1963-01-15 Bendix Corp Flexural pivot device
US3181851A (en) * 1961-10-03 1965-05-04 Bendix Corp Flexural pivot
US3277555A (en) * 1963-05-22 1966-10-11 Bendix Corp Clip flexural pivot manufacturing method
US3252696A (en) * 1963-10-21 1966-05-24 Bendix Corp Flexural pivot device
US3360255A (en) * 1965-06-11 1967-12-26 Alfred N Ormond Universal flexure unit
US3722296A (en) * 1971-01-19 1973-03-27 Bendix Corp Antifriction bearing with compensating flexural pivot in a free axis gyroscope
US3825992A (en) * 1972-09-08 1974-07-30 Bendix Corp Method of making an eccentric flexural pivot

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4336967A (en) * 1980-01-14 1982-06-29 K.K. Tokyo Keiki Bearing apparatus
US4444442A (en) * 1980-01-14 1984-04-24 K. K. Tokyo Keiki Bearing apparatus
US5142485A (en) * 1990-05-17 1992-08-25 The State Of Israel, Ministry Of Defence, Rafael Armament Development Authority Two axis accelerometer
US5725429A (en) * 1993-08-20 1998-03-10 Exedy Corporation Flywheel mechanism
US5758419A (en) * 1993-08-20 1998-06-02 Exedy Corporation Method of assembling a flywheel mechanism
US6666612B2 (en) * 1999-08-31 2003-12-23 Centre National D'etudes Spatiales Flexural pivot
CN102950423A (zh) * 2011-08-23 2013-03-06 兆利科技工业股份有限公司 转轴的公连接件制法

Also Published As

Publication number Publication date
BR7604355A (pt) 1977-07-26
CA1052601A (en) 1979-04-17
SE7607598L (sv) 1977-01-04
JPS5236269A (en) 1977-03-19
SE415697B (sv) 1980-10-20
IT1066572B (it) 1985-03-12
DE2629721A1 (de) 1977-01-20
FR2330908B1 (de) 1982-10-22
FR2330908A1 (fr) 1977-06-03
JPS589298B2 (ja) 1983-02-19
NL171186B (nl) 1982-09-16
NL171186C (nl) 1983-02-16
DE2629721C2 (de) 1985-06-05
GB1545774A (en) 1979-05-16
NL7607266A (nl) 1977-01-05

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